| /**************************************************************************** |
| ** |
| ** Copyright (C) 2016 The Qt Company Ltd. |
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| ** This file is part of the QtSensors module of the Qt Toolkit. |
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| |
| #include "sensorfwgyroscope.h" |
| |
| char const * const SensorfwGyroscope::id("sensorfw.gyroscope"); |
| const float SensorfwGyroscope::MILLI = 0.001; |
| |
| SensorfwGyroscope::SensorfwGyroscope(QSensor *sensor) |
| : SensorfwSensorBase(sensor) |
| , m_initDone(false) |
| { |
| init(); |
| setDescription(QLatin1String("angular velocities around x, y, and z axis in degrees per second")); |
| setRanges(MILLI); |
| setReading<QGyroscopeReading>(&m_reading); |
| addDataRate(10, 10); |
| addDataRate(50, 50); |
| sensor->setDataRate(50);//set a default rate |
| } |
| |
| void SensorfwGyroscope::slotDataAvailable(const XYZ& data) |
| { |
| m_reading.setX((qreal)(data.x()*MILLI)); |
| m_reading.setY((qreal)(data.y()*MILLI)); |
| m_reading.setZ((qreal)(data.z()*MILLI)); |
| m_reading.setTimestamp(data.XYZData().timestamp_); |
| newReadingAvailable(); |
| } |
| |
| void SensorfwGyroscope::slotFrameAvailable(const QVector<XYZ>& frame) |
| { |
| for (int i=0, l=frame.size(); i<l; i++) { |
| slotDataAvailable(frame.at(i)); |
| } |
| } |
| |
| bool SensorfwGyroscope::doConnect() |
| { |
| Q_ASSERT(m_sensorInterface); |
| if (m_bufferSize==1) |
| return QObject::connect(m_sensorInterface, SIGNAL(dataAvailable(XYZ)), this, SLOT(slotDataAvailable(XYZ))); |
| return QObject::connect(m_sensorInterface, SIGNAL(frameAvailable(QVector<XYZ>)),this, SLOT(slotFrameAvailable(QVector<XYZ>))); |
| } |
| |
| QString SensorfwGyroscope::sensorName() const |
| { |
| return "gyroscopesensor"; |
| } |
| |
| qreal SensorfwGyroscope::correctionFactor() const |
| { |
| return MILLI; |
| } |
| |
| void SensorfwGyroscope::init() |
| { |
| m_initDone = false; |
| initSensor<GyroscopeSensorChannelInterface>(m_initDone); |
| } |
| |
| void SensorfwGyroscope::start() |
| { |
| if (reinitIsNeeded) |
| init(); |
| SensorfwSensorBase::start(); |
| } |